9DOF IMU sensor filtering for 3D orientation determination, Part 2

Here’s an opencalc graph of the data I’m spitting out from the Arduino attached to the chip.

“A” values are accelerometer. “G” are gyroscope. The rest are based on the filter.pdf link above. I’m working on a live visualization in Processing. My first Processing app! Every day something new to add to the resume.

Edit: Then again, why reinvent the wheel? The Q&U Project Lab already has an open source Arduino, Processing, and C++ library that does all 9DOF heavy lifting. Plus I just learned how to make multi-file Arduino projects and the awesome #error precompiler for Arduino. Here’s a video of their code in action, exactly the same as I’m getting now.

Double win? Triple? Why do I feel like the word “tripple” should have three ‘p’s?

Excellent! Now that’s working, I’m going to tie the two together and use the sensor data to drive the wheels to keep the ball pointing in the desired orientation.